﻿<!DOCTYPE html>
<html>
<head>
   <title>4 - Yaw Dynamics</title>
   <meta name="generator" content="Help & Manual">
   <meta name="keywords" content="">
   <meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
   <link type="text/css" href="default.css" rel="stylesheet">
   <link type="text/css" href="custom.css" rel="stylesheet">
   <script type="text/javascript" src="nsh.js"></script>
   
<!-- non-scrolling headers for CHM and browser-based help, local styles-->
<style TYPE="text/css" media="screen"> 
   <!-- 
   body {    
      margin:0; 
      padding:0; 
      overflow: auto; 
      background: #edede9; 
   } 
   #idheader { 
      width:100%; 
      height:auto; 
      padding: 0; 
      margin: 0;     
} 
    #idheaderbg  {
    background: #E40A00; 
}
#idheadernowrap  {
    white-space:nowrap; 
}
    ul {list-style-type: lower-roman}
   -->
   </style>
   
<style TYPE="text/css" MEDIA="print">
<!--
/* Hide navigation links and add space between header
     and text in the printed version. Not valid for eBooks. */
#idnav { display:none;	 }
.topichead { padding: 5px 5px 20px 5px; }
-->
</style>   
   <script type="text/javascript" src="jquery.js"></script>
   <script type="text/javascript" src="helpman_settings.js"></script>
   <script type="text/javascript" src="helpman_topicinit.js"></script>

   <script type="text/javascript">
     HMSyncTOC("index.html", "drvsim_motioncueing_4_-_yaw_dynamics.htm");
   </script>
   <script type="text/javascript" src="highlight.js"></script>
   <script type="text/javascript">
     $(document).ready(function(){highlight();});
   </script>
</head>
<body>

<!--ZOOMSTOP-->

<div id="idheader" >
<div id="idheaderbg">
<table width="100%" border="0" cellspacing="0" cellpadding="0" 
       style="margin: 0px; color: #D7D7D7;">

  <tr valign="middle">
    <td align="left" valign="middle" class="topichead">
    <!--<div id="idheadernowrap">-->
    <p class="crumbs" id="idnav"><b>Navigation:</b>&nbsp;
   
   VI-MotionCueing &gt; <a href="drvsim_motioncueing_vi-drivesim_gui_description.htm">VI-MotionCueing GUI description</a>&nbsp;&gt;</p>
      <h1 class="p_Heading1" style="page-break-after: avoid;"><span class="f_Heading1">4 - Yaw Dynamics</span></h1>

    <!--</div>-->
    </td>
    <td align="right" width="180" valign="middle" class="topichead" id="idnav">
    <div id="idheadernowrap">
    <a href="javascript: print();"
    		onmouseover="document.images.prntr.src='print_a.png'" 
        onmouseout="document.images.prntr.src='print_n.png'"
        ><img name="prntr" border="0" alt="Print this Topic" title="Print this Topic" src="print_n.png"
        ></a>&nbsp;&nbsp;
     <a href="drvsim_motioncueing_3_-_axes_of_rotation_aor.htm"
        onmouseover="document.images.prev.src='back_a.png'" 
        onmouseout="document.images.prev.src='back_n.png'"
        ><img name=prev src="back_n.png" border=0 alt="Previous page"
        ></a><a href="drvsim_motioncueing_vi-drivesim_gui_description.htm"
        onmouseover="document.images.main.src='top_a.png'" 
        onmouseout="document.images.main.src='top_n.png'"><img name=main src="top_n.png" border=0 alt="Return to chapter overview"
        ></a><a href="drvsim_motioncueing_5_-_output_gains_sliders.htm"
        onmouseover="document.images.next.src='next_a.png'" 
        onmouseout="document.images.next.src='next_n.png'"><img name=next src="next_n.png" border=0 alt="Next page"
        ></a>
    </div>
    </td>
  </tr>
</table>
</div>

<!-- The following code displays Expand All/Collapse All links  below the header in topics containing toggles -->
  

</div>  



<div id="idcontent"><div id="innerdiv"> 
<!--ZOOMRESTART-->
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">In this panel the tuning of <span style="font-style: italic;">Yaw Dynamics</span> con be modified. The <span style="font-style: italic;">Yaw Dynamics</span> feature has the aim of providing to the driver information on the vehicle sliding dynamics, reproducing the instantaneous yaw center of rotation projected on the axis of the vehicle. In such a way the vehicle behavior in the various phases of the turn can be correctly reproduced: a typical situation is that of having a rotation behind the Center of Gravity (CG) of the car in turn entry (almost kinematic condition), an almost neutral behavior in the middle of the turn and a rotation in front of the CG during over-steering. The effect if axis migration can be reproduced splitting both lateral acceleration and yaw rate in the components that directly depends on side slip.</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">As for the lateral acceleration, the suitable splitting results observing that:</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;"><img alt="drvsim_yawdyn_eq_01" width="119" height="26" style="margin:0;width:119px;height:26px;border:none" src="drvsim_yawdyn_eq_01.png"/></p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">where:</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>v<span style="font-size: 7pt; vertical-align: sub;">y</span> is the variation of lateral velocity, which is mainly related to the side slip velocity. v<span style="font-size: 7pt; vertical-align: sub;">y</span> is, as a matter of fact, the lateral contribution due to migration of yaw axis of rotation projected on the car axis;</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>v<span style="font-size: 7pt; vertical-align: sub;">x</span>Ψ is the lateral component of the centrifugal acceleration.</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">On the other hand, the yaw velocity can be written as:</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;"><img alt="drvsim_yawdyn_eq_02" width="103" height="36" style="margin:0;width:103px;height:36px;border:none" src="drvsim_yawdyn_eq_02.png"/></p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">where:</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>the side-slip velocity β is the yaw attitude of the body relative to the total velocity vector;</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>the course angle Ψ<span style="font-size: 7pt; vertical-align: sub;">c</span> is the angle between the trace of the vehicle velocity vector in the X-Y plane and X-axis of the global frame, i.e. Ψ + β.</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">v<span style="font-size: 7pt; vertical-align: sub;">y</span> and β have mostly high frequency content and they do not need heavy scaling and filtering: in this way the dynamic variation of the yaw axis of rotation is faithfully provided to the driver.</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">The conceptual scheme of the <span style="font-style: italic;">yaw dynamics</span> strategy, which is split in yaw and lateral subsystem is shown in the following figures:</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="text-align: center; margin: 0px 0px 0px 23px;"><img alt="drvsim_yawdyn_scheme_01" width="604" height="250" style="margin:0px auto 0px auto;width:604px;height:250px;border:none" src="drvsim_yawdyn_scheme_01.png"/></p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;"><span class="f_ImageCaption">Scheme of yaw dynamics for the lateral subsystem</span></p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="text-align: center; margin: 0px 0px 0px 23px;"><img alt="drvsim_yawdyn_scheme_02" width="637" height="267" style="margin:0px auto 0px auto;width:637px;height:267px;border:none" src="drvsim_yawdyn_scheme_02.png"/></p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;"><span class="f_ImageCaption">Scheme of yaw dynamics for the yaw subsystem</span></p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">Both lateral and yaw contributions work together for the proper perception of the yaw axis migration, however the proper balancing needs to be tuned on the driver feedback, hence six tuning parameters (gains and filters cut-off frequencies) have been introduced:</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<div style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 0px; margin: 0px 0px 0px 23px;"><table style="border:none; border-spacing:0px; border-collapse:collapse;">
<thead>
<tr style="text-align:left;vertical-align:top;">
<th style="vertical-align:middle; width:97px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Parameter name</span></p>
</th>
<th style="vertical-align:middle; width:431px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Description</span></p>
</th>
<th style="vertical-align:middle; width:182px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Suggested operating range</span></p>
</th>
</tr>
</thead>
<tbody>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:middle; width:97px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Kv</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">y</span><span style="font-size: 7pt; font-weight: bold; vertical-align: super;">out</span></p>
</td>
<td style="vertical-align:middle; width:431px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="margin: 0px 0px 0px 23px;">Gain used for the direct lateral acceleration contribution, that is then added the canonical acceleration contribution. When equal to 1 a fully reproduction of the direct lateral acceleration is provided to the driver.</p>
</td>
<td style="vertical-align:middle; width:182px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">0.1 / 0.3</span></p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:middle; width:97px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Kv</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">y</span><span style="font-size: 7pt; font-weight: bold; vertical-align: super;">in</span></p>
</td>
<td style="vertical-align:middle; width:431px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="margin: 0px 0px 0px 23px;">Gain used to modify the reference for the canonical lateral acceleration subsystem to be consistent with the chosen value of <span style="font-style: italic;">Kv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">out</span> and to avoid redundant contributions. If 1 the total lateral acceleration is used as reference input.</p>
</td>
<td style="vertical-align:middle; width:182px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">1 - &nbsp;(</span><span style="font-weight: bold;">Kv</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">y</span><span style="font-size: 7pt; font-weight: bold; vertical-align: super;">out</span><span style="font-weight: bold;">/K</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">y</span><span style="font-weight: bold;">) * 9.81</span></p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:middle; width:97px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">HPv</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">y</span></p>
</td>
<td style="vertical-align:middle; width:431px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="margin: 0px 0px 0px 23px;">Cut-off frequency of the high pass filter used on the direct acceleration. If <span style="font-style: italic;">HPv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-style: italic;"> = HP</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span> and <span style="font-style: italic;">Kv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">in</span><span style="font-style: italic;"> = </span><span style="font-style: italic;">1 - &nbsp;(</span><span style="font-style: italic;">Kv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">out</span><span style="font-style: italic;">/K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-style: italic;">) * 9.81 </span>the effect of the yaw dynamics is nullified. Suggested values are <span style="font-style: italic;">HPv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-style: italic;"> &lt; HP</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span></p>
</td>
<td style="vertical-align:middle; width:182px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">0.1 / 0.2</span></p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:middle; width:97px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">K</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">β</span><span style="font-size: 7pt; font-weight: bold; vertical-align: super;">out</span></p>
</td>
<td style="vertical-align:middle; width:431px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="margin: 0px 0px 0px 23px;">Gain used for the side slip rate contribution, that is then added the canonical yaw rate contribution. When equal to -1 a fully reproduction of the side slip rate is provided to the driver</p>
</td>
<td style="vertical-align:middle; width:182px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">-0.1 / -0.3</span></p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:middle; width:97px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">K</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">β</span><span style="font-size: 7pt; font-weight: bold; vertical-align: super;">in</span></p>
</td>
<td style="vertical-align:middle; width:431px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="margin: 0px 0px 0px 23px;">Gain used to modify the reference for the canonical yaw subsystem to be consistent with the chosen value of <span style="font-style: italic;">K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">out</span> and to avoid redundant contributions. Differently from the lateral acceleration, if <span style="font-style: italic;">K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">in</span><span style="font-style: italic;"> = 0</span>, the total yaw rate is used as reference input</p>
</td>
<td style="vertical-align:middle; width:182px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;"> - (</span><span style="font-weight: bold;">K</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">β</span><span style="font-size: 7pt; font-weight: bold; vertical-align: super;">out</span><span style="font-weight: bold;">/K</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">yaw</span><span style="font-weight: bold;">)</span></p>
</td>
</tr>
<tr style="text-align:left;vertical-align:top;">
<td style="vertical-align:middle; width:97px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">HP</span><span style="font-size: 7pt; font-weight: bold; vertical-align: sub;">β</span></p>
</td>
<td style="vertical-align:middle; width:431px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="margin: 0px 0px 0px 23px;">Cut-off frequency of the high pass filter used on the side slip rate. I <span style="font-style: italic;">HP</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-style: italic;"> = HP</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">yaw</span> and <span style="font-style: italic;">K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">in</span><span style="font-style: italic;"> = </span><span style="font-style: italic;">- (</span><span style="font-style: italic;">K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">out</span><span style="font-style: italic;">/K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">yaw</span><span style="font-style: italic;">) </span>the effect of the yaw dynamics is nullified. Suggested values are <span style="font-style: italic;">HP</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-style: italic;"> &lt; HP</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">yaw</span></p>
</td>
<td style="vertical-align:middle; width:182px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">0.1 / 0.2</span></p>
</td>
</tr>
</tbody>
</table>
</div>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">The suggested tuning procedure is the following:</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">1.</span>Set <span style="font-style: italic;">Kv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">out </span><span style="font-style: italic;">= 0.1, K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">out</span><span style="font-style: italic;"> = -0.1</span>, and <span style="font-style: italic;">Kv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">in</span><span style="font-size: 7pt; vertical-align: super;"> </span>and<span style="font-style: italic;"> K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">in</span> are computed with the formulas reported in the table by the <span style="font-style: italic;">Cueing_computation_Template.xlsx </span>file at the sheet <span style="font-style: italic;">Yaw Dynamics</span> provided with the VI-DriveSim installation;</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">2.</span>Reduce<span style="font-weight: bold;"> </span><span style="font-style: italic;">HP</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span> starting from the value <span style="font-style: italic;">HP</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">yaw</span><span style="font-style: italic;"> </span>and <span style="font-style: italic;">HPv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span> starting from the value <span style="font-style: italic;">HP</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span>;</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">3.</span>Increase the output gains <span style="font-style: italic;">Kv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">out</span> and <span style="font-style: italic;">K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">out</span> to have a more intense action of the yaw dynamics and decrease them to obtain the opposite effect.</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">To <span style="font-weight: bold;">switch off</span> the yaw dynamics set <span style="font-style: italic;">Kv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">out </span><span style="font-style: italic;">= 0, K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">out</span><span style="font-style: italic;"> = 0, Kv</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">y</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">in </span><span style="font-style: italic;">= 1 </span>and<span style="font-style: italic;"> K</span><span style="font-size: 7pt; font-style: italic; vertical-align: sub;">β</span><span style="font-size: 7pt; font-style: italic; vertical-align: super;">in</span><span style="font-style: italic;"> = 0</span>, which is also the <span style="font-weight: bold;">default setting</span>.</p>

<!--ZOOMSTOP-->
</div></div>
<script type="text/javascript"> 
<!-- 
var lastSlashPos = document.URL.lastIndexOf("/") >
document.URL.lastIndexOf("\\") ? document.URL.lastIndexOf("/") :
document.URL.lastIndexOf("\\");
if( document.URL.substring( lastSlashPos + 1, lastSlashPos + 4
).toLowerCase() != "~hh" )
{
    nsrInit();
}
--> 
</script> 
</body>
</html>
